Technically you have never touched something, in your life. Ever. I’m not kidding when you “Touch” Something really you are just feeling the force of the atoms pushing back and resisting. Your touch receptors in your fingers Interpret that as a touch. But how do you fell textures? Good question, I don’t know. But I definitely know that the theory of Atoms first began in Ancient Greek times when a philosopher said “ what if there is something smaller than us¨ Basically saying that he thought there was such thing as atoms. Also he thought that there was nothing smaller than an atom but he was wrong now we have discovered that there are smaller things called Quarks but that was really smart of him for his time.